TW202348129A - Combine - Google Patents

Abstract

An object of the present invention is to provide a combine capable of efficiently moving to a reaping start position for the next reaping work row without being affected by the operator's operation skill. The solution means is, in the combine, a position information receiving device (51) for receiving position information of the machine body is provided, a position information acquisition member (52) for recording the position information received from the position information receiving device (51) is provided, a travel calculation device (50) is provided for calculating a first straight reference line (BG1) that serves as a reference for straight travel from the recorded position information, in addition, an assist operation member (56) is provided for turning on and off a travel assist function that causes the vehicle to travel along the first straight reference line (BG1) by the travel calculation device (50),a reaping sensor (57) for detecting a reaping operation of the reaping device (3) is provided, when the reaping sensor (57) is in a non-detecting state, a second straight base line (BG2) orthogonal to the first straight base line (BG1) is calculated.

Description

combine harvester

The present invention relates to a combine harvester for harvesting grain stalks using a harvesting device while traveling in a straight line.

In the past combine harvesters, the machine body was driven straight forward to harvest the grain stalks. When the end of the harvest bar was reached, the orientation of the machine body was changed by about 90 degrees, and the machine was harvested in an orthogonal direction toward the center of the field. In this harvesting method, there is a technology that displays an imaginary line indicating the harvesting pole on the display to assist the operator in the operation when the orientation of the machine body is changed (see Patent Document 1). [Prior technical literature] [Patent Document]

[Patent Document 1] Japanese Patent Application Publication No. 2019-80496.

[Problem to be solved by the invention]

However, in the technology of Patent Document 1, the operator must align the virtual line to operate the traveling direction of the machine body, and at the same time, it is necessary to perform operations such as height alignment of the harvesting device. Therefore, especially operators who are not skilled in operation cannot obtain it. The problem of auxiliary effects of manipulation.

In addition, depending on the shape of the farmland and the growth status of the rice, some parts may not be harvested, or conversely, the movement of the traveling device may overwhelm the movement of the part. Therefore, unnecessary labor for harvesting may be generated afterwards and the harvest amount may be reduced. reduction problem.

In order to eliminate the above-mentioned problems, the present invention provides a combine harvester that can efficiently move to the harvesting start position of the next harvesting strip regardless of the operator's manipulation skills. [Means used to solve problems]

The present invention solves the above-mentioned problems as follows.

That is, the aspect 1 is a combine harvester in which a harvesting device (3) is provided on the front side of a fuselage that travels by a traveling device (2), and is provided to harvest grains harvested by the harvesting device (3). A screening device (4) for separating grains by a rod; in the aforementioned combine harvester, a position information receiving device (51) for receiving position information of the fuselage is provided, and a position information receiving device (51) is provided for storing the information received by the position information receiving device (51). The position information acquisition unit (52) of the obtained position information has a travel calculation device (50) that calculates a first straight forward reference line (BG1) as a standard for straight forward travel based on the stored position information, and is provided for An auxiliary operating member (56) for turning on/off a driving assistance function that causes the combine to travel along the first straight forward reference line (BG1) through the driving calculation device (50); provided The harvesting sensor (57) used for detecting the harvesting operation of the harvesting device (3) calculates the correct position of the first straight forward reference line (BG1) when the harvesting sensor (57) becomes a non-sensing state. The second straight line of intersection advances the baseline (BG2).

Scheme 2 is a combine harvester as described in Scheme 1, wherein when calculating the second straight forward reference line (BG2), the current position information obtained by the above-mentioned position information receiving device (51) is stored, and the obtained The position coordinates in the direction orthogonal to the direction of travel of the fuselage in the position information are moved from the current position to the direction separated by a predetermined distance to the left and right sides of the fuselage, and are stored as the straight forward reference point (NB) for the next process. The traveling device (2) moves straight toward the reference point (NB) in the next step and automatically turns.

Scheme 3 is a combine harvester as described in Scheme 2, wherein when the harvesting sensor (57) cannot detect the grain stalks, the traveling device (2) travels diagonally forward until the turning angle reaches a certain value. When switching to reverse traveling, the traveling device (2) starts control of traveling toward the next step straight forward reference point (NB).

Aspect 4 is a combine harvester as described in Aspect 3, wherein an orientation sensor (51a) for detecting the direction of the machine body's traveling direction is provided, and the travel calculation device (50) calculates the linear advance of the next step. The distance between the reference point (NB) and the current position received by the position information receiving device (51) is calculated, and the first straight forward reference line (BG1) or the second straight forward reference line (BG2) and the aforementioned orientation sensor are calculated The azimuth deviation of (51a); the aforementioned traveling calculation device (50) causes the aforementioned traveling device (2) to retreat and automatically turn in a direction in which the distance is reduced and the azimuth deviation is close to a predetermined angle. When the aforementioned next process straight forward reference point (NB) is reached, , end control. [Invention effect]

According to the invention of aspect 1, even the next harvesting work strip can be harvested using the driving assistance function, thereby improving harvesting accuracy.

In addition, since the second straight forward reference line (BG2) can be calculated based on the first straight forward reference line (BG1), the load on the travel calculation device (50) can be suppressed.

According to the invention of claim 2, since the machine body is moved to the next harvesting operation bar in addition to the current harvesting operation bar, it can be moved without overturning the grain pole, thereby preventing a reduction in the harvest amount.

In addition, the machine body automatically travels to the point where it separates from the next harvesting line and then starts harvesting. Therefore, the labor intensity of the operator can be greatly reduced, and the traveling position can be adjusted before harvesting is restarted, allowing for high-precision operation. Harvesting of grain stalks.

According to the invention of claim 3, the harvesting work strip can be moved to a position suitable for the next process regardless of the operator's operating skills.

According to the invention of claim 4, the accuracy of guidance to the next harvesting work strip is improved.

As shown in Figures 1 to 3, the combine harvester is provided with a traveling device 2 composed of a pair of left and right crawlers on the lower side of the fuselage frame 1; and is provided on the front side of the fuselage frame 1 for harvesting grains planted in farmland. Pole harvesting device 3. In addition, a threshing device 4 for threshing and screening the grain stems harvested by the harvesting device 3 is provided on the rear left side of the harvesting device 3; and a control unit for operators to ride on is provided on the rear right portion of the harvesting device 3. 5.

The engine room 6 equipped with the engine E is provided on the lower side of the control part 5. The grain box 7 for storing the grains threshed and screened by the threshing device 4 is provided on the rear side of the control part 5. The grains are stored in the grain box. The grains in the grain tank 7 are discharged to the outside by the discharge auger 70 connected to the grain tank 7 . Moreover, the front panel 10 is provided in front of the control seat of the control part 5, and the side panel 15 is provided in the left side of the control seat.

The left part of the front panel 10 is provided with a monitor 11 for displaying the output rotation of the engine E, etc., and the right part is provided with an operating lever 12 for operating the turning of the traveling device 2 and the lifting and lowering of the harvesting device 3. In addition, the posture of the operating lever 12 is measured by an angle sensor 12S such as a potentiometer installed at the lower part of the operating lever 12 .

In addition, a parking brake pedal 13 is provided on the front left portion of the bottom panel located on the lower side of the front panel 10. The parking brake pedal 13 operates and releases a pair of left and right braking devices 38 provided in the transmission 21 to be described later. A grab pedal 14 is provided on the front right portion of the bottom plate. The grab pedal 14 connects and releases the harvesting clutch described below.

In addition, the stepping posture of the parking brake pedal 13 is measured by sensors 13S such as a limit switch and a contact sensor installed at the lower part of the parking brake pedal 13, and the angle is sensed by a proximity sensor or other potentiometer. The pedaling posture of the grabbing pedal 14 is measured by a sensor 14S such as a limit switch and a contact sensor installed at the lower part of the grabbing pedal 14 .

A main gear lever ("gear lever" in the scope of the patent application) 16 is provided at the front of the side panel 15. The main gear lever is a continuously variable gear for acceleration and deceleration of the output rotation of the engine E and switching of the rotation direction. The device 20 is operated; an auxiliary gear lever 17 is provided on the rear side of the main gear lever 16. The auxiliary gear lever 17 operates the transmission 21 for acceleration and deceleration of the output rotation of the continuously variable transmission device 20. The auxiliary gear lever 17 is The rear side of 17 is provided with a harvesting and threshing rod 18. The harvesting and threshing rod 18 operates the connection and disconnection of the harvesting clutch 22 and the threshing clutch 23.

As shown in FIG. 4 , the output rotation output from the engine E is transmitted to the continuously variable transmission device 20 provided on the transmission path (the "first transmission path" in the scope of the patent application) A. The output rotation of the engine E transmitted to the input shaft 44 of the continuously variable transmission device 20 is accelerated, decelerated, and rotated by the continuously variable transmission device 20 , and is transmitted to the transmission 21 .

The output rotation of the continuously variable transmission device 20 transmitted to the input shaft 30 of the transmission 21 is accelerated and decelerated by the multi-stage gears of the transmission 21 and output from the output shaft 34, and then transmitted to the traveling device 2. In addition, the traveling speed v of the traveling device 2 is measured by a speed sensor 2S such as a rotation speed sensor mounted on the wheel and a gyroscope mounted on the body frame 1 . The output rotation output from the output shaft 31 of the transmission 21 is transmitted to the harvesting device 3 via the harvesting clutch 22 .

In addition, the output rotation output from the engine E is transmitted to the threshing device 4 via the threshing clutch 23 provided on the transmission path (the "second transmission path" in the scope of the patent application) B.

The output rotation of the continuously variable transmission device 20 shown in FIG. 5 is transmitted to the input shaft 30 of the transmission 21. The output rotation transmitted to the input shaft 30 is transmitted to the counter shaft 32 via the gear 30A, the gear 31A and the gear 32A. The gear 30A is provided on the input shaft 30 , the gear 31A is rotatably provided on the output shaft 31 , and the gear 32A is provided on the counter shaft 32 .

The output rotation transmitted to the counter shaft 32 is transmitted to the counter shaft 33 via the gear 32B and the gear 33A. The gear 32B is provided on the counter shaft 32 , and the gear 33A is provided on the counter shaft 33 .

The output rotation transmitted to the counter shaft 33 is transmitted to the output shaft 34 via a pair of left and right gears 33B and a pair of left and right gears 34A provided on both sides of the gear 33A. The gear 33B is provided on the counter shaft 33, and the gear 34A is provided on the output shaft 34 so as to be slidable in the left-right direction.

Braking devices 33C for braking the rotation of the counter shaft 33 are provided on both sides of the pair of left and right gears 33B of the counter shaft 33 . Thereby, when the operation lever 12 is tilted to the left, the rotation speed of the left gear 33B becomes slower than the rotation speed of the right gear 33B, and the traveling device 2 can be turned to the left in the traveling direction, and When the operation lever 12 is tilted to the right, the rotation speed of the right gear 33B becomes slower than the rotation speed of the left gear 33B, and the traveling device 2 can be turned to the right in the traveling direction.

The output rotation transmitted to the output shaft 34 is transmitted to the input shaft 35 of the traveling device 2 via a pair of left and right gears 34B and a pair of left and right gears 35A provided outside the gear 34A. The gear 34B is provided on the output shaft 34 so as to be slidable in the left-right direction, and the gear 35A is provided on the input shaft 35 .

The output rotation transmitted to the counter shaft 32 is transmitted to the output shaft 31 through the gear 32C and the gear 31B, or the gear 32D and the gear 31C. The gear 32C and the gear 32D are provided on the counter shaft 32, and the gear 31B and the gear 31C are provided on the output shaft 31 so as to be slidable in the left-right direction. In addition, the gear 31B and the gear 31C can be moved in the left-right direction via the shifter 36 by operating a shift device (not shown).

The output rotation transmitted to the output shaft 31 is transmitted to the input shaft 37 of the harvesting device 3 via the harvesting clutch 22 .

As shown in FIG. 6 , when the main shift lever 16 is in the neutral position, the output rotation of the continuously variable transmission device 20 is zero. When the main gear lever 16 is set from the neutral position to the front tilt position, the rotation direction of the output rotation of the continuously variable transmission device 20 is the same as the forward rotation direction of the output rotation of the engine E. When the front side is increased The output rotation of the continuously variable transmission device 20 is accelerated when the tilt angle of the front side tilt posture is reduced, and the output rotation of the continuously variable transmission device 20 is decelerated when the tilt angle of the front side tilt posture is reduced. In addition, when the main gear lever 16 is set from the neutral position to the rear inclined position, the rotation direction of the output rotation of the continuously variable transmission device 20 rotates in the opposite direction to the rotation direction of the output rotation of the engine E. When When the tilt angle of the rear side tilt posture is increased, the output rotation of the continuously variable transmission device 20 is accelerated. When the tilt angle of the rear side tilt posture is decreased, the output rotation of the continuously variable transmission device 20 is decelerated. In addition, the posture of the main gear lever 16 is measured by an angle sensor 16S such as a potentiometer installed at the lower part of the main gear lever 16 .

When the auxiliary shift lever 17 is set to the neutral position, the output rotation of the transmission 21 does not accelerate or decelerate. When the auxiliary transmission lever 17 is set from the neutral position to the front inclined position, the output rotation of the transmission 21 is accelerated. When the auxiliary transmission lever 17 is set from the neutral position to the rear inclined position, the output rotation of the transmission 21 is accelerated from the neutral position to the rear inclined position. The output rotation transmitted from 20 is decelerated. In addition, the posture of the auxiliary transmission lever 17 is measured by an angle sensor 17S such as a potentiometer installed at the lower part of the auxiliary transmission lever 17 .

When the harvesting and threshing lever 18 is set to the front side inclined posture, the connection system of the harvesting clutch 22 and the threshing clutch 23 is released. When the harvesting and threshing lever 18 is set to the rear side inclined posture, the harvesting clutch 22 and the threshing clutch 23 are connected. Moreover, when the harvesting and threshing lever 18 is set to the neutral position between the front side inclination position and the rear side inclination position, the connection of the harvesting clutch 22 is released, and the threshing clutch 23 is connected. In addition, the posture of the harvesting and threshing rod 18 is measured by the angle sensor 18S, such as a potentiometer, attached to the lower part of the harvesting and threshing rod 18.

As shown in FIG. 7 , a sector gear 41 is supported on the balance shaft 40 of the continuously variable transmission 20 . Gears 42A and 43A are engaged with gears formed on the outer circumference of the sector gear 41 . The gear 42A is provided in the forward motor. (the "drive unit" in the scope of the patent application) 42; the gear 43A is provided on the output shaft of the reverse motor (the "drive unit" in the scope of the patent application) 43. Thereby, the forward motor 42 and the reverse motor 43 can be driven based on the posture of the main gear lever 16 , that is, the measured value of the angle sensor 16S, so as to rotate the balance shaft 40 of the continuously variable transmission device 20 and thereby start the engine operation. The output of E is acceleration and deceleration of rotation and switching of rotation direction. In addition, the output rotation of the engine E is transmitted to the input shaft 44 of the continuously variable transmission device 20 .

In addition, FIG. 7 shows a form in which the forward motor 42 and the reverse motor 43 rotate the balance shaft 40 of the continuously variable transmission device 20 through the sector gear 41, but the following form may also be adopted: in the continuously variable transmission device 20. The balance shaft 40 supports an arm extending in the radial direction, and a forward cylinder driven by a forward solenoid and a backward cylinder driven by a backward solenoid are connected to the outer peripheral portion of the arm.

As a method of harvesting grain stems using a combine harvester, there is a method of harvesting in a straight line from the work strip on the outer periphery of the farmland, and when reaching the harvesting terminal part, the method is as follows: direction, that is, turn approximately 90 degrees, and continue harvesting while moving straight forward on the next harvesting operation line, and continue harvesting toward the center of the farmland.

Regarding this 90-degree turn, if it is a combine harvester in which the traveling device 2 is a pair of left and right crawler tracks, after the harvesting device 3 is raised to the harvesting end position, the left and right crawler tracks are driven in opposite directions respectively, and at that point Making a 90-degree turn, also known as a spot turn, can be easily accomplished.

However, when turning in place, due to the reaction force of the in-situ turn, the crawler tracks will squeeze the soil from the farmland toward the rice on the unharvested side, and there is a risk that the grain stalks will be crushed by the soil. In this way, during the orthogonal harvesting operation, the fallen grain poles must be lifted up by dividing the grain poles or lifting devices to harvest. However, if the fallen seedlings cannot be fully lifted up, they cannot be harvested and must be harvested. Harvest the harvest by doing manual work afterwards.

In addition, if the grain stalks are harvested with soil mixed in and delivered to the threshing device 4, there is a risk that the broken soil will enter the transmission systems of the harvesting device 3 and the threshing device 4, causing damage due to load.

Therefore, as an example of turning without using a spot turn, as shown in FIG. 8 , when the end position E of the harvesting work strip is reached, the harvesting device 3 is raised and the fuselage is moved to the deployment point on the diagonal front side of the fuselage. T turn. In addition, the unfolding point T of the fuselage direction is located near the non-working (unharvested) side N of the unharvested grain pole. Therefore, the traveling device 2 advances straight forward slightly from the end position E of the harvesting bar and then starts to turn to avoid being overwhelmed. Grain stalks.

Then, after advancing to a position separated from the unworked position, the vehicle switches to reverse travel, and then turns and travels toward the next process straight forward reference point NB in the diagonally rearward direction. At this time, the body is in a posture orthogonal to the previous harvesting strip, and the harvesting device 3 is retreated to a position facing the next harvesting strip.

By being able to perform harvesting operations on the next harvesting line without bringing the soil on the farmland surface close to the unharvested grain stalks and without raising the fallen grain stalks, it is possible to prevent the occurrence of harvest residues. Damage caused by inclusions such as soil.

However, when traveling forward and turning from the end of the harvesting line, it is necessary to move on a trajectory that does not step on the grain stalks, and when traveling backwards toward the starting point of the next harvesting line, it is necessary to move so that the harvesting device 3 does not deflect. Move the ground to the position of the next harvesting strip. Therefore, although the operator only needs to be proficient in operating the combine harvester, if he is not sufficiently proficient, he will have to adjust the turning trajectory multiple times or adjust the harvesting operation position, resulting in a significant reduction in operating efficiency and a waste of redundant labor for the operator. problem.

Furthermore, if the proficiency in operating the combine is low, it will be difficult to drive the machine body in a straight line along the grain stems. This may result in grain stems being harvested due to meandering, and grains that should be harvested in a later process may be harvested early. Rod problem.

In order to eliminate the above-mentioned problems and move the machine body without being influenced by the skill of the operator, as shown in FIGS. 1 to 3 , at least one place on the machine body such as the grain box 7 and the control unit 5 is provided for interacting with the machine body. GPS (Global Positioning System, Global Positioning System) antenna 51 that obtains current location information through satellite communication. The GPS antenna 51 automatically obtains position information every predetermined time (for example: 0.2 seconds). A coordinate acquisition switch 52 is provided on the control unit 5 or an information terminal (not shown) carried by the operator. The coordinate acquisition switch 52 is used to The operator obtains the position information at any time and stores the position coordinates as the position information in the travel control device 50, thereby forming a structure capable of acquiring and storing specific position information.

Furthermore, as shown in FIGS. 9 and 10 , a harvesting clutch sensor 53 and a threshing clutch sensor 54 for detecting the on/off of the harvesting clutch 22 and the threshing clutch 23 are provided. When the sensor 53 and the threshing clutch sensor 54 are determined to be in the on state, that is, the harvesting operation state, and when the coordinate acquisition switch 52 is operated, the first reference point A is stored in the travel control device 50 .

When the first reference point A has been obtained, the coordinates of the first reference point A are compared with the coordinates newly obtained by operating the coordinate acquisition switch 52, or after the coordinates of the first reference point A are obtained, the coordinates of the first reference point A are compared according to the The detection value of the travel rotation sensor 55 that detects the rotation transmitted to the transmission system of the travel device 2 is used to calculate the travel distance and determine whether the coordinates of the first reference point A are separated by more than a predetermined distance (for example: 5m to 10m).

If the traveling distance is less than the predetermined distance, the position information acquired by the GPS antenna 51 is not stored as an invalid operation, and the warning is invalidated by a notification device (not shown) such as a buzzer.

On the other hand, when the predetermined distance or more is traveled, the position information of the position of the operating coordinate acquisition switch 52 is stored as the second reference point B, and the travel control device 50 calculates the connection as shown in (a) of FIG. 11 An imaginary line representing the coordinates of the first reference point A and the second reference point B. When the shape of the farmland is a rectangle, the smaller the difference between the X coordinate of the first reference point A and the X coordinate of the second reference point B, the better it is judged that the harvesting can be carried out in a straight line between points A-B. Therefore, , set the first straight forward baseline BG1.

That is, when the difference between the X coordinate of the first reference point A and the X coordinate of the second reference point B exceeds the allowable value, as shown in (b) of Figure 11 , there is a possibility that the harvesting travel trajectory will be significantly oblique. Therefore, it is notified that the first straight-forward reference line BG1, which is the reference for straight-forward travel, is not suitable as the standard for straight-forward travel, and the first reference point A and the second reference point B are deleted. In this case, the first reference point A and the second reference point B are reacquired in the next process that is orthogonal to the current harvesting work bar, or in the next next process that is substantially parallel to the current harvesting work bar.

The GPS antenna 51 has a built-in ICU 51a for determining the direction (azimuth) of the fuselage using geomagnetism, a gyroscope, etc., in addition to a communication device with satellites. In a state where the first straight forward reference line BG1 is stored in the driving control device 50, and when the harvesting clutch sensor 53 and the threshing clutch sensor 54 detect that they are turned on, and when the operation is set on the control seat 5, or the information When the terminal's straight forward auxiliary switch 56 is turned on, the direction of the forward direction of the fuselage acquired by the current ICU 51a is compared with the orientation when the first straight forward reference line BG1 is acquired (for example, east-west, south-north).

If the direction of the first straight forward reference line BG1 is parallel to the direction of the forward direction of the fuselage, the travel control device 50 moves the first straight forward reference line BG1 in the X-axis direction as shown in (a) of FIG. 11 and FIG. 12 Slide to fit the imaginary straight forward baseline GL.

On the other hand, when the direction of the first straight forward reference line BG1 is orthogonal to the direction of the forward direction of the fuselage, as shown in (c) and FIG. 12 of FIG. 11 , the travel control device 50 generates the first straight forward reference line. The line BG1 is orthogonal, that is, the second linear advance reference line BG2 is extended infinitely in the positive and negative directions of the X-axis with the Y coordinate of the first linear advance reference line BG1 as a reference.

In addition, when the orientation of the first straight forward reference line BG1 and the forward direction of the fuselage are not substantially parallel or substantially orthogonal, it is judged that the forward direction is changing and is not suitable for straight forward assistance, and the virtual straight forward reference is not calculated. line GL and the second straight forward baseline line BG2.

Therefore, under the operating conditions of changing the orientation of the machine body by 90 degrees at the terminal portion of the harvesting operation bar and setting the orthogonal direction as the next harvesting operation bar, the operator can operate the straight forward auxiliary switch 56 to move the machine. The harvesting travel is performed in a straight line along the first straight forward reference line BG1 or the second straight forward reference line BG2.

In addition, the travel control device 50 can perform an on/off operation on the side clutches 2a and 2b for turning on/off the transmission transmitted to the left and right crawler belts regardless of the operation of the operating lever 12. Furthermore, when the straight-ahead auxiliary switch 56 is turned on, the first straight-ahead reference line BG1 or the second straight-ahead reference line BG2 is compared with the position coordinates obtained by the GPS antenna 5, and when a coordinate exceeding the allowable value occurs, At the time of deviation, the left and right side clutches 2a and 2b are turned on/off, and the combine is driven along a trajectory of straight forward harvesting travel.

If the first harvesting operation is carried out to the extent that the first straight forward reference line BG1 can be obtained as described above, the harvesting operation can be carried out from the beginning using the straight forward assistance obtained by the travel control device 50 in subsequent processes. Therefore, regardless of the Regardless of the operator's proficiency in operation, the occurrence of harvest residues on grain stalks can be prevented.

In addition, since the straight-forward auxiliary switch 56 can be operated when the harvesting clutch sensor 53 and the threshing clutch sensor 54 are in the detection state, the straight-forward auxiliary function can be used before starting to travel. Harvesting of grain stems is carried out reliably from the harvesting start position.

Among the above, the harvesting operation that requires straight forward travel is not easily influenced by proficiency. Turning and forward and backward driving that change the direction of the machine body by 90 degrees also present a control structure that is not easily influenced by proficiency.

As shown in Figures 10 and 13, the harvesting device 3 is provided with a grain stem sensor 57 for detecting grain stems entering the harvesting object. When the grain stem sensor 57 changes from the detection state to the non-detection state, It can be determined that there are no grain stalks to be harvested, that is, the end position E of the harvesting operation bar has been reached. The arrival is notified to the operator by a notification device such as a buzzer.

Furthermore, when the straight-forward auxiliary switch 56 is operated and the straight-forward travel is controlled by the travel control device 50 and the grain stalk sensor 57 is in a non-sensing state, it is determined that the end position E of the harvesting work strip has been reached. , and the orientation of the fuselage has been changed to a 90-degree turning position.

At this time, the travel control device 50 raises the harvesting device 3 toward the deployment point T, sets the harvesting clutch 22 and the threshing clutch 23 to an off state, and causes the HST (Hydraulic Static Transmission, hydrostatic transmission mechanism) 60 to move forward in the forward direction. The output of low-speed travel is activated, and the left and right side clutches 2a and 2b are respectively controlled to be on/off, so that the body moves toward the grain stalk planting side and a position where there are no grain stalks, that is, in the diagonal forward direction.

In addition, the position without grain stems is ensured by performing the harvesting operation by manual operation before acquiring the first straight forward reference line BG1 or after acquiring it. If emphasis is placed on efficiency, another combine harvester may be used to harvest grain stalks in order to secure a space for turning.

When the fuselage is moved diagonally forward and the angle obtained by crossing the forward direction of the fuselage detected by ICU51a and the first straight forward reference line BG1 or the second straight forward reference line BG2 reaches a predetermined angle (for example: 30 degrees to 45 degrees ), it is set that the deployment point T has been reached, and the travel control device 50 sets the output of the HST 60 to 0 (neutral) to stop travel.

When the grain stem sensor 57 cannot detect the grain stems, the driving control device 50 obtains and records the position information from the GPS antenna 51 . The coordinates of the position information are compared with the coordinates of the first straight forward reference line BG1 or the second straight forward reference line BG2, and when harvesting is performed along the first straight forward reference line BG1, the predetermined distance will be moved in the X-axis direction (for example: The registered front and rear length of the machine body) is set as the next process straight forward reference point NB as the starting end of the next harvesting work strip; when harvesting is carried out along the second straight forward reference line BG2, the position will be along the Y axis. The position moved by a predetermined distance in the direction (for example: the registered front-to-back length of the machine body) is set as the next process linear advancement reference point NB as the starting end of the next harvesting work bar.

More specifically, when the numerical value of the Y coordinate of the first linear advance reference line BG1 increases, the next process linear advance reference point NB is set at a position where the coordinates are shifted in the positive direction of the X-axis. When the numerical value of the Y coordinate decreases, The next process linear advance reference point NB is set at a position where the coordinates are shifted in the negative direction of the X-axis. In addition, when the value of the X coordinate of the second linear advance reference line BG2 decreases, the next process linear advance reference point NB is set at a position where the coordinate is shifted in the positive direction of the Y axis. When the value of the X coordinate increases, the next process linear advance reference point NB is set at the position where the coordinate is shifted. The next process linear advance reference point NB is set at a position shifted in the negative direction of the Y-axis.

In addition, the next process straight forward reference point NB makes the Y coordinate of the second straight forward reference line BG2 consistent with its own Y coordinate during the harvesting operation along the first straight forward reference line BG1; During the harvesting operation, the X coordinate of the first straight forward reference line BG1 is consistent with its own X coordinate.

When the output of the HST60 stops, when the operator operates the main gear lever 16 in the reverse direction, or when a certain time (for example: 2 seconds to 3 seconds) passes as shown in Figure 14, the HST60 outputs in the reverse direction. At this time, if the operation amount of the main gear lever 16 is too large, there is a risk of high-speed reverse. Therefore, if the time it takes for the travel control device 50 to increase the output of the HST60 is longer than usual, or if the reverse output of the HST60 is set to The upper limit can prevent the fuselage from accidentally crushing unharvested grain poles.

When starting the reverse travel of the fuselage, the travel control device 50 turns the left and right sides on and off in order to reach the next step straight forward reference point NB with the orientation of the fuselage rotated 90 degrees in the left turn direction relative to the turning direction. Clutches 2a and 2b, and control the direction of travel. Then, when the body reaches the coordinate position of the next process linear advance reference point NB, or a position considered to be approximate, the output of the HST60 is set to 0 (neutral) and stopped.

Then, the operator visually confirms that unharvested grain stalks are planted on the straight line of the stopped position of the machine body and that one side of the harvesting device 3 in the left-right direction is located at the outer end of the unharvested grain stalks, and lowers the harvesting device 3 When the machine reaches the working height, the harvesting clutch 22 and the threshing clutch 23 are switched to the on state, and then the straight forward auxiliary switch 56 is turned on to perform the harvesting operation along the second straight forward reference line BG2.

Then, until the end of the harvesting operation, the following process is repeated: when the grain stalk sensor 57 does not detect the entry of the grain stalk, if there is no abnormality, the position coordinate of the place is advanced from the second straight line to the X coordinate of the reference line BG2 along the positive and negative lines. The direction extends infinitely, and is calculated as the x-th reference line BGx parallel to the first straight forward reference line BG1. In the next process, the y-th reference line BGy... is calculated. In addition, the above x is an odd number and y is an even number.

With the above approach, the operator needs little or no operation when turning the direction of the fuselage by 90 degrees. Therefore, the operator's labor can be reduced and overwhelm due to operation errors can be prevented. Grain stalks, or damage to farmland.

In addition, by automatically moving on a straight line to the next harvesting operation start position, if the straight forward auxiliary switch 56 is turned on during the operation state, harvesting can be carried out on an appropriate trajectory, so the operation efficiency can be improved. , and improve harvesting accuracy.

When starting the backward travel, as shown in FIG. 16 , the distance from the next process straight forward reference point NB is calculated based on the next process straight forward reference point NB and the current position coordinates acquired by the GPS antenna 51 . At this time, the moving distance between two points acquired by the GPS antenna 51 within a certain period of time (for example, 1 second to 3 seconds) is calculated as a sample, and based on the sample, the estimated time to reach the next process straight forward reference point NB is calculated. (Example: sample = 0.25m/second, distance = 5.00m, (5-0.25)/0.25 = 19 seconds remaining).

Alternatively, as shown in FIG. 17 , when starting to travel backwards, the azimuth deviation required to reach the next process straight forward reference point NB is calculated based on the next process straight forward reference point NB and the current orientation of the fuselage obtained by ICU51 . At this time, the change in the azimuth deviation obtained by ICU51a within a certain period of time (for example: 1 second to 3 seconds) is calculated as a sample, and based on the sample, the predicted time to reach the next process straight forward reference point NB is calculated (for example: Sample = 4 degrees/second, bearing deviation before arrival is 40 degrees, (36-4)/4 = 9 seconds remaining).

These numbers are displayed on the display of the control unit 5 and the countdown is performed. If necessary, recalculation can be performed to change the value.

In addition, in the above description, only one of the distance and the azimuth deviation is calculated and used for calculation of the predicted time, but they may be calculated in parallel and displayed in parallel. In this case, the time based on the distance is set to the expected arrival at the next step straight forward reference point NB at the current traveling speed, and the time based on the azimuth deviation is set to the time until the orientation of the body reaches the same direction as the next harvesting operation step. And there is no problem even if the settings are inconsistent with each other. However, when there is only one display frame, the time based on the distance from which the operation can actually be started is given priority.

In addition, the arrival prediction time is calculated based on both the azimuth deviation amount and the distance. If the two results are consistent or similar within the allowable range, automatic retreat assistance is directly performed.

On the other hand, as shown in FIG. 18 , when the prediction time based on the azimuth deviation amount is longer than the prediction time based on the distance, the braking output to the traveling device 2 is increased to reduce the change amount of distance, and the arrival prediction time is made consistent. control.

This allows the machine body to be oriented in a posture suitable for the harvesting operation of the next step before arrival, and prevents the movement position of the machine body from deviating from the harvesting operation position of the next step, thereby improving work efficiency and work precision. .

On the contrary, when the prediction time based on the distance is longer than the prediction time based on the azimuth deviation amount, the braking output to the traveling device 2 is reduced, the distance change amount is increased, and control is performed to make the arrival prediction time consistent.

Thereby, the machine body orientation is corrected while moving to the work start position of the next process, so the movement speed can be given priority, thereby improving work efficiency.

In the above structure, since the coordinate information is obtained by the GPS antenna 51, it is possible to store the position information of the position where harvesting is completed and the position where automatic retreat assistance is started, and it is possible to confirm whether there is any harvest residue and whether the starting point of automatic retreat assistance is after the operation. Appropriate locations, etc., can be used to discuss improvement points for next and subsequent operations.

The above-mentioned harvesting end position is preferably the position coordinate obtained when the grain stem sensor 57 cannot detect the grain stems or when the harvesting device 3 is raised. However, depending on the working conditions and the situation of the operator, the harvesting device 3 may be advanced somewhat and then raised even if there is no grain stalk, or the harvesting device 3 may be raised simultaneously with harvesting the last grain stalk. In the case of the lifting operation, it is also conceivable to use the position information when one of the undetected grain stalks and the lifting operation of the harvesting device 3 occurs first as the harvesting end position.

In this way, by outputting the harvesting end position to a farm map after the operation, it is possible to confirm whether the harvesting end position is scattered and whether it is appropriate as the start position of the subsequent automatic retreat assistance, and to extract improvements from next time onwards. points, so long-term operation accuracy is improved.

In addition, although the automatic retreat assist is performed while changing the posture of the machine body while retreating until the start position of the next harvesting operation, due to the influence of the starting position of the retreat, etc., the orientation of the machine body is moved to the direction along the next process. When the position of the first straight forward reference line BG1 or the second straight forward reference line BG2 is determined, and the machine body is judged to be at a position that is greatly offset in the left-right direction, the harvesting device 3 may not face the harvesting that should be the next process. Because of problems such as the location of the position, harvesting residue or the inability to perform the harvesting function of the harvesting device 3, the driving control device 50 is set so that even if the straight forward assist switch 56 is turned on, the travel control device 50 does not activate the straight forward assist function.

In addition, when there is no coordinate deviation in the left-right direction between the body and the first straight forward reference line BG1 or the second straight forward reference line BG2 through manual operation or the like, or is close to within the allowable range, the straight forward assist function is used. When the switch 56 is turned on, the travel control device 50 performs straight forward assist control.

In addition, as shown in FIG. 19 , the straight forward auxiliary switch 56 is provided on the left and right sides of the switch panel 62 , and the switch panel 62 is provided on the control unit 5 and the like. The straight forward assist switch 56 can also operate both the straight forward assist and the automatic reverse assist. However, due to an operation error, it may be difficult to move to the harvesting position of the next process, or it may cause unnecessary movement.

In order to prevent this situation, the following configuration may be adopted. That is, as shown in FIG. 19 , a reverse auxiliary switch 63 is provided on the other left and right sides of the switch panel 62. When the reverse auxiliary switch 63 is operated in a state where the conditions are satisfied, the reverse auxiliary switch 63 is operated. Automatic retreat shown in Figure 15. In addition, in order to further prevent errors in the straight forward assist and the automatic reverse assist, the following configuration can also be adopted: a mode switching switch 64 is provided on the left and right of the straight forward assist switch 56 and the reverse assist switch 63, and only operations with this mode switching switch 64 are accepted. The operation on that side of the setting.

Thereby, it is possible to prevent harvesting surplus or crushing of the grain stems due to erroneous operations, and by using necessary auxiliary functions, it is possible to effectively perform high-precision operations.

The above-mentioned acquisition of the first reference point A and the second reference point B, the straight forward assist, and the automatic reverse assist are performed through predetermined operations. However, the operator does not know whether his operation is accurate until the control is started. to make judgments. In addition, poor communication with satellites and the occurrence of abnormalities in various parts of the fuselage are indicated by displays such as lights, but it is difficult for operators who are focused on other operations to confirm.

Therefore, as shown in FIG. 10 , the control system is equipped with a voice guidance device 65 preset with a plurality of voices, and the travel control device 50 is based on the operator's operation of the lever or switch, and each sensor mounted on the body. Switch between detection or non-detection and send out corresponding voice.

For example, when the coordinate acquisition switch 52 is operated while the first reference point A is not acquired, "Point A has been acquired." is generated. When the coordinate acquisition switch 52 is operated while the first reference point A is acquired, "Point A has been acquired." is generated. Point B is obtained. Preparation for the auxiliary function is completed.", when the grain stalk sensor 57 is non-detecting during straight-forward assist travel, or the straight-forward auxiliary switch 56 is operated while the harvesting device 3 is raised, "Assist completion" occurs. ."

Depending on the machine model, in addition to the straight-forward auxiliary turning 90 degrees from the harvesting end position to the next process including the horizontal harvesting mode, it is also possible to set the alternate harvesting mode, etc. The alternate harvesting mode is along the connecting point A-B. Based on the calculated first straight forward reference line BG1, the harvesting operation strip at one end of the farmland and the harvesting operation strip at the other end are alternately harvested, and the straight forward assist is turned off at the farmland end, and the farmland is used while turning. target the central part. If these multiple straight forward assist modes are switched by turning the control knob 66, the operability will be better.

However, if the voice guidance device 65 sounds every time when switching between modes, the operator must endure the noise while performing the switching operation. If the previous voice setting is interrupted when the control knob 66 is operated during pronunciation, some discomfort can be alleviated. However, if the previous voice setting is not interrupted, it is difficult to determine the current mode and the discomfort increases.

In order to prevent this problem, the following structure is set. That is, as shown in FIG. 20 , when the control knob 66 is used to switch the mode of the straight forward assist or to switch other modes, when the travel control device 50 determines that the control knob 66 is Only when the operating position does not change for a certain period of time (eg, less than 1 second) will the voice guidance device 65 emit a corresponding voice.

Thereby, the operator will not be disturbed by noise when operating the control knob 66 , and can prevent multiple voice files from being read in a short period of time to impose load on the travel control device 50 and the voice guidance device 65 . In particular, it can prevent control errors caused by repeatedly reading the voice file in a short period of time, causing a sound that does not correspond to the operating position of the control knob 66 to be emitted, causing the operator to perform operations in an incorrect mode.

By having the GPS antenna 51 and the ECU (Eletronic Control Unit) 51a as described above, it is possible to determine whether the running position of the body is from the first straight forward reference line BG1 and the second straight forward reference line BG2 during the straight forward assist. How much has it shifted.

The straight-ahead assist system corrects the direction of the fuselage by causing a speed difference between the left and right traveling devices 2 to correct the deviation. However, when the deviation becomes larger due to unevenness of the farmland surface, etc., the operator moves the operating lever 12 toward the The method of operating in the left and right directions can increase the amount of posture correction and quickly return to the straight forward position.

Therefore, when a position deviation exceeding a set value is detected, a voice instruction is given to the operator to correct the traveling direction by operating the operation lever 12 . In addition, it is possible that the operator is not aware of the deviation, does not realize which direction the deviation is to the left or the right, or makes an error in judgment, so the voice given specifically explains the operation in the direction closer to the straight forward driving position, for example, "Please go to the right." (Left) direction of the operation lever."

This can quickly correct the deviation from the straight forward position, prevent the occurrence of grain stems that cannot be harvested by the harvesting device 3, and prevent the occurrence of unharvested portions within the left and right width of the harvesting device 3, thereby improving work efficiency. Efficiency and working accuracy.

However, when aligning the straight forward position, if the voice continues to be emitted after the operation lever 12 is operated in the direction to be operated, it may cause discomfort to the operator.

Therefore, as shown in FIG. 21 , if the operation lever 12 is operated in the same direction for more than a predetermined time (for example: 1 second to 2 seconds), the driving control device 50 causes the voice guidance device 65 to stop the same voice. The composition of the pronunciation prevents the same pronunciation from being pronounced multiple times unnecessarily, which can reduce the discomfort of the operator.

In addition, when the operation lever 12 continues to be operated in the same direction even after exceeding the straight forward position, and the operation lever 12 must be operated in the opposite direction, a voice message "Please operate the operation lever to the right (left) direction." is emitted.

In addition, as shown in FIG. 22 , the angle formed by an imaginary line indicating the direction calculated by the ECU 51 a and the first straight forward reference line BG1 or the second straight forward reference line BG2 is equal to or greater than a predetermined angle. At this time, it is judged that the operator intentionally operated the operation lever 12 to cause the disengagement, and the interruption voice guidance device 65 emits a voice prompting operation in the left and right directions.

However, when the straight ahead assist switch 56 is operated without turning off the straight ahead assist, the travel control device 50 continues to control the position of the body along the first straight ahead reference line BG1 or the second straight ahead reference line BG2, so it is also possible. "Please turn off the auxiliary switch." is issued once or a predetermined number of times (e.g. 2 to 3 times).

During the harvesting operation of the combine harvester, the harvesting operation of bringing the harvesting device 3 close to the vicinity of a field ridge may be performed. At this time, in order to stop the driving at a position where the harvesting device 3 does not contact the field ridges, detection of the presence or absence of grain stalks by the grain stalk sensor 57 is important. However, when the important grain stalk sensor 57 is When a malfunction occurs due to an open circuit or a short circuit, even if there is actually no grain stalk, notification is not given, resulting in the harvesting device 3 coming into contact with the field ridge and being damaged.

In order to prevent this situation, as shown in FIG. 10 , the following structure is adopted: an auxiliary grain stem sensor 57 a is provided further behind the body than the conventionally installed grain stem sensor 57 , and both of them are in contact with the harvested grain stems. .

Furthermore, as shown in FIG. 23 , when the grain stem sensor 57 is normally in the detection state or in the non-detection state, and the auxiliary grain stem sensor 57 a changes from the detection state to the non-detection state, it can be called as follows. Status: The grain stem sensor 57 is faulty, and the auxiliary grain stem sensor 57a is operating normally.

Therefore, since the auxiliary grain stem sensor 57a shows non-detection, it can be determined that there is no grain stem, and therefore a notification can be issued to the operator through the notification device.

Alternatively, when the grain stem sensor 57 switches from the non-detection state to the detection state, and the auxiliary grain stem sensor 57a changes from the detection state to the non-detection state, it can also be said to be in the following state: the grain stem sensor 57 is A malfunction occurs and the auxiliary grain stem sensor 57a operates normally.

On the other hand, when the grain stem sensor 57a switches from the detection state to the non-detection state, since the grain stem sensor 57a operates normally, the notification device is activated to notify the operator.

1: Body frame 2: Travel device 2a,2b: Side clutch 3: Harvesting device 4:Threshing device 5:Control Department 6:Engine room 7: Grain box 10:Front panel 11:Monitor 12: Operating lever 13:Parking brake pedal 14:Grab pedal 15:Side panel 16:Main gear lever 17: Auxiliary gear lever 18: Harvesting threshing poles 20:Continuously variable transmission 21:Transmission 22: Harvest Clutch 23:Threshing clutch 30:Input shaft 30A:Gear 31:Output shaft 31A to 3C, 32A to 32D: gears 33:Counter axis 33A, 33B: Gear 33C: Braking device 34:Output shaft 34A, 34B: Gear 35:Input shaft 35A:Gear 36:Shifter 37:Input shaft 40: Balance shaft 41: Sector gear 42: Forward motor 42A:Gear 43:Reverse motor 43A:Gear 44:Input shaft 50: Driving computing device 51: Location information receiving device (GPS antenna) 51a:ECU (electronic control unit) 52: Coordinate acquisition switch 53: Harvest clutch sensor 54:Threshing clutch sensor 55: Driving rotation sensor 56: Straight forward auxiliary switch 57: Grain stem sensor 57a: Auxiliary grain stem sensor 60:HST (hydrostatic transmission mechanism) 62:Switch panel 63:Return auxiliary switch 64: Mode switch 65:Voice guidance device 66:Control knob 70:Exhaust accelerator A, B: Transmission path BG1: First straight forward baseline BG2: Second straight forward baseline E:Engine GL: Imaginary straight forward baseline T: expansion point N: Not working side NB: Next process straight forward reference point

[Figure 1] is a front view of the combine harvester. [Figure 2] is a top view of the combine harvester. [Figure 3] The left side view of the combine harvester. [Fig. 4] A transmission diagram showing the output rotation of the engine E. [Figure 5] is a transmission diagram of the engine E transmitting the output rotation to the traveling device and the harvesting device. [Fig. 6] An explanatory diagram of the main gear lever. [Fig. 7] It is an explanatory diagram of a continuously variable transmission device. [Figure 8] is a schematic diagram showing a 90-degree backward turn. [Fig. 9] is a block diagram showing each operating device and control objects. [Fig. 10] is a flowchart showing the calculation control of the first straight forward reference line. [Fig. 11] (a) is a schematic diagram showing the case where the first straight forward reference line is calculated, (b) is a schematic diagram showing the case where the first straight forward reference line is not calculated, and (c) is a schematic diagram showing the calculation of the first and second straight lines. Schematic diagram of the situation of advancing the baseline. [Fig. 12] is a flowchart showing straight forward assist control. [Fig. 13] is a flowchart showing the backward 90-degree turn control. [Fig. 14] is a flowchart showing another configuration of backward 90-degree turn control. [Fig. 15] is a flowchart showing another configuration of backward 90-degree turn control. [Fig. 16] This is a flowchart showing the control of calculating the arrival prediction time based on the current position and the distance from the next process straight forward reference point. [Fig. 17] is a flowchart showing the control of calculating the predicted arrival time based on the azimuth deviation between the current position and the next process straight forward reference point. [Fig. 18] is a flowchart showing traveling speed control based on a reverse 90-degree turn based on the difference in arrival prediction time based on distance and azimuth deviation. [Fig. 19] is a front view showing the switch panel. [Fig. 20] is a flowchart showing the control of stopping the voice guidance during operation of the control knob. [Fig. 21] is a flowchart showing the control of stopping the voice guidance when the operation lever is continuously operated in the left and right directions. [Fig. 22] is a flowchart showing the control of stopping the voice guidance when the manual operation of the straight forward assist is ignored. [Fig. 23] is a flowchart showing detection control of grain stems using a grain stem sensor and an auxiliary grain stem sensor.

Claims (4)

A combine harvester is provided with a harvesting device (3) on the front side of a fuselage that is driven by a traveling device (2), and is provided with a screening device for separating grains from grain stalks harvested by the harvesting device (3). device(4); The aforementioned combine harvester is provided with a position information receiving device (51) for receiving position information of the body, and is provided with a position information acquisition unit (52) for storing the position information received by the position information receiving device (51). ), equipped with a driving calculation device (50) that calculates a first straight forward reference line (BG1) as a standard for straight forward driving based on stored position information, and is provided with an auxiliary operation for turning on/off the driving assist function Component (56), the driving assistance function allows the combine to travel along the first straight forward reference line (BG1) through the driving calculation device (50); A harvesting sensor (57) for detecting the harvesting operation of the harvesting device (3) is provided. When the harvesting sensor (57) becomes a non-sensing state, the relationship with the first straight forward reference line (BG1) is calculated. The orthogonal second straight line advances the baseline (BG2). The combine harvester according to claim 1, wherein when calculating the second straight forward reference line (BG2), the current position information obtained by the position information receiving device (51) is stored, and the obtained position is The position coordinates in the information in the direction orthogonal to the direction of travel of the fuselage are moved from the current position to the direction separated by a predetermined distance to the left and right sides of the fuselage, and are stored as the straight forward reference point (NB) for the next process; The traveling device (2) moves straight toward the reference point (NB) in the next step and automatically turns. The combine harvester as described in claim 2, wherein when the harvesting sensor (57) cannot detect the grain stems, the aforementioned traveling device (2) travels diagonally forward, and when the turning angle reaches a certain value, When switching to reverse traveling, the traveling device (2) starts control of traveling toward the next step straight forward reference point (NB). The combine harvester as described in claim 3, wherein an orientation sensor (51a) for detecting the orientation of the traveling direction of the body is provided; The travel calculation device (50) calculates the distance between the next step straight forward reference point (NB) and the current position received by the position information receiving device (51), and calculates the first straight forward reference line (BG1) Or the azimuth deviation between the aforementioned second straight forward reference line (BG2) and the aforementioned azimuth sensor (51a); The traveling calculation device (50) causes the traveling device (2) to reverse and automatically steer in a direction in which the distance is reduced and the azimuth deviation is close to a predetermined angle. When the next process straight forward reference point (NB) is reached, the control is terminated.

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